diff --git a/Extras/ConvexDecomposition/cd_wavefront.cpp b/Extras/ConvexDecomposition/cd_wavefront.cpp index 1c722b4d3..b33080964 100644 --- a/Extras/ConvexDecomposition/cd_wavefront.cpp +++ b/Extras/ConvexDecomposition/cd_wavefront.cpp @@ -176,7 +176,7 @@ public: mHard[(int)c] = ST_DATA; } - void DefaultSymbols(void); // set up default symbols for hard seperator and comment symbol of the '#' character. + void DefaultSymbols(void); // set up default symbols for hard separator and comment symbol of the '#' character. bool EOS(char c) { @@ -197,7 +197,7 @@ private: inline bool IsHard(char c); inline char *SkipSpaces(char *foo); inline bool IsWhiteSpace(char c); - inline bool IsNonSeparator(char c); // non seperator,neither hard nor soft + inline bool IsNonSeparator(char c); // non separator, neither hard nor soft bool mMyAlloc; // whether or not *I* allocated the buffer and am responsible for deleting it. char *mData; // ascii data to parse. diff --git a/src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp b/src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp index 072192868..616fc34f3 100644 --- a/src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp +++ b/src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp @@ -496,7 +496,7 @@ void b3GpuParallelLinearBvh::constructBinaryRadixTree() clFinish(m_queue); } - //Find the number of nodes seperating each internal node and the root node + //Find the number of nodes separating each internal node and the root node //so that the AABBs can be set using the next kernel. //Also determine the maximum number of nodes separating an internal node and the root node. { diff --git a/src/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h b/src/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h index 087b30f3e..2b1e63be7 100644 --- a/src/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h +++ b/src/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h @@ -68,7 +68,7 @@ public: virtual void unLockReadOnlyVertexBase(int subpart) const = 0; - /// getNumSubParts returns the number of seperate subparts + /// getNumSubParts returns the number of separate subparts /// each subpart has a continuous array of vertices and indices virtual int getNumSubParts() const = 0; diff --git a/src/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h b/src/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h index b6ceb8df1..57cbf03dc 100644 --- a/src/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h +++ b/src/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h @@ -100,7 +100,7 @@ public: virtual void unLockReadOnlyVertexBase(int subpart) const { (void)subpart; } - /// getNumSubParts returns the number of seperate subparts + /// getNumSubParts returns the number of separate subparts /// each subpart has a continuous array of vertices and indices virtual int getNumSubParts() const { diff --git a/src/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp b/src/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp index dae61d458..8b0a834ef 100644 --- a/src/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp +++ b/src/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp @@ -183,9 +183,9 @@ bool b3VoronoiSimplexSolver::updateClosestVectorAndPoints() const b3Vector3& c = m_simplexVectorW[2]; const b3Vector3& d = m_simplexVectorW[3]; - bool hasSeperation = closestPtPointTetrahedron(p, a, b, c, d, m_cachedBC); + bool hasSeparation = closestPtPointTetrahedron(p, a, b, c, d, m_cachedBC); - if (hasSeperation) + if (hasSeparation) { m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] + m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] + diff --git a/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h b/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h index 7d729ee0d..68a41dfb4 100644 --- a/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h +++ b/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h @@ -58,7 +58,7 @@ public: virtual void unLockReadOnlyVertexBase(int subpart) const = 0; - /// getNumSubParts returns the number of seperate subparts + /// getNumSubParts returns the number of separate subparts /// each subpart has a continuous array of vertices and indices virtual int getNumSubParts() const = 0; diff --git a/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h b/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h index 8ebb22baa..556aa3fef 100644 --- a/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h +++ b/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h @@ -100,7 +100,7 @@ public: virtual void unLockReadOnlyVertexBase(int subpart) const { (void)subpart; } - /// getNumSubParts returns the number of seperate subparts + /// getNumSubParts returns the number of separate subparts /// each subpart has a continuous array of vertices and indices virtual int getNumSubParts() const { diff --git a/src/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h b/src/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h index c94391d81..3c8213303 100644 --- a/src/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h +++ b/src/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h @@ -95,11 +95,11 @@ int btComputeGjkEpaPenetration(const btConvexTemplate& a, const btConvexTemplate for (;;) //while (true) { - btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis(); - btVector3 seperatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis(); + btVector3 separatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis(); + btVector3 separatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis(); - btVector3 pInA = a.getLocalSupportWithoutMargin(seperatingAxisInA); - btVector3 qInB = b.getLocalSupportWithoutMargin(seperatingAxisInB); + btVector3 pInA = a.getLocalSupportWithoutMargin(separatingAxisInA); + btVector3 qInB = b.getLocalSupportWithoutMargin(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp index 4339b2ea7..5af93cb2f 100644 --- a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp +++ b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp @@ -79,11 +79,11 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput &input, Result static void btComputeSupport(const btConvexShape *convexA, const btTransform &localTransA, const btConvexShape *convexB, const btTransform &localTransB, const btVector3 &dir, bool check2d, btVector3 &supAworld, btVector3 &supBworld, btVector3 &aMinb) { - btVector3 seperatingAxisInA = (dir)*localTransA.getBasis(); - btVector3 seperatingAxisInB = (-dir) * localTransB.getBasis(); + btVector3 separatingAxisInA = (dir)*localTransA.getBasis(); + btVector3 separatingAxisInB = (-dir) * localTransB.getBasis(); - btVector3 pInANoMargin = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInBNoMargin = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInANoMargin = convexA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInBNoMargin = convexB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pInA = pInANoMargin; btVector3 qInB = qInBNoMargin; @@ -839,11 +839,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu for (;;) //while (true) { - btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis(); - btVector3 seperatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis(); + btVector3 separatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis(); + btVector3 separatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis(); - btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); @@ -1116,11 +1116,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu btScalar d2 = 0.f; { - btVector3 seperatingAxisInA = (-orgNormalInB) * localTransA.getBasis(); - btVector3 seperatingAxisInB = orgNormalInB * localTransB.getBasis(); + btVector3 separatingAxisInA = (-orgNormalInB) * localTransA.getBasis(); + btVector3 separatingAxisInB = orgNormalInB * localTransB.getBasis(); - btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); @@ -1130,11 +1130,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu btScalar d1 = 0; { - btVector3 seperatingAxisInA = (normalInB)*localTransA.getBasis(); - btVector3 seperatingAxisInB = -normalInB * localTransB.getBasis(); + btVector3 separatingAxisInA = (normalInB)*localTransA.getBasis(); + btVector3 separatingAxisInB = -normalInB * localTransB.getBasis(); - btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); @@ -1143,11 +1143,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu } btScalar d0 = 0.f; { - btVector3 seperatingAxisInA = (-normalInB) * input.m_transformA.getBasis(); - btVector3 seperatingAxisInB = normalInB * input.m_transformB.getBasis(); + btVector3 separatingAxisInA = (-normalInB) * input.m_transformA.getBasis(); + btVector3 separatingAxisInB = normalInB * input.m_transformB.getBasis(); - btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h index 659b63551..faa02287c 100644 --- a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h +++ b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h @@ -64,9 +64,9 @@ public: { m_minkowskiB = minkB; } - void setCachedSeperatingAxis(const btVector3& seperatingAxis) + void setCachedSeparatingAxis(const btVector3& separatingAxis) { - m_cachedSeparatingAxis = seperatingAxis; + m_cachedSeparatingAxis = separatingAxis; } const btVector3& getCachedSeparatingAxis() const diff --git a/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp b/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp index a77449812..c042c2420 100644 --- a/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp +++ b/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp @@ -65,7 +65,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s btScalar minProj = btScalar(BT_LARGE_FLOAT); btVector3 minNorm(btScalar(0.), btScalar(0.), btScalar(0.)); btVector3 minA, minB; - btVector3 seperatingAxisInA, seperatingAxisInB; + btVector3 separatingAxisInA, separatingAxisInB; btVector3 pInA, qInB, pWorld, qWorld, w; #ifndef __SPU__ @@ -75,8 +75,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s btVector3 supportVerticesABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; btVector3 supportVerticesBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; - btVector3 seperatingAxisInABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; - btVector3 seperatingAxisInBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; + btVector3 separatingAxisInABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; + btVector3 separatingAxisInBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; int i; int numSampleDirections = NUM_UNITSPHERE_POINTS; @@ -84,8 +84,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s for (i = 0; i < numSampleDirections; i++) { btVector3 norm = getPenetrationDirections()[i]; - seperatingAxisInABatch[i] = (-norm) * transA.getBasis(); - seperatingAxisInBBatch[i] = norm * transB.getBasis(); + separatingAxisInABatch[i] = (-norm) * transA.getBasis(); + separatingAxisInBBatch[i] = norm * transB.getBasis(); } { @@ -98,8 +98,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s convexA->getPreferredPenetrationDirection(i, norm); norm = transA.getBasis() * norm; getPenetrationDirections()[numSampleDirections] = norm; - seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); - seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); + separatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); + separatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); numSampleDirections++; } } @@ -115,15 +115,15 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s convexB->getPreferredPenetrationDirection(i, norm); norm = transB.getBasis() * norm; getPenetrationDirections()[numSampleDirections] = norm; - seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); - seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); + separatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); + separatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); numSampleDirections++; } } } - convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch, supportVerticesABatch, numSampleDirections); - convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch, supportVerticesBBatch, numSampleDirections); + convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(separatingAxisInABatch, supportVerticesABatch, numSampleDirections); + convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(separatingAxisInBBatch, supportVerticesBBatch, numSampleDirections); for (i = 0; i < numSampleDirections; i++) { @@ -134,8 +134,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s } if (norm.length2() > 0.01) { - seperatingAxisInA = seperatingAxisInABatch[i]; - seperatingAxisInB = seperatingAxisInBBatch[i]; + separatingAxisInA = separatingAxisInABatch[i]; + separatingAxisInB = separatingAxisInBBatch[i]; pInA = supportVerticesABatch[i]; qInB = supportVerticesBBatch[i]; @@ -199,10 +199,10 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s for (int i = 0; i < numSampleDirections; i++) { const btVector3& norm = getPenetrationDirections()[i]; - seperatingAxisInA = (-norm) * transA.getBasis(); - seperatingAxisInB = norm * transB.getBasis(); - pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + separatingAxisInA = (-norm) * transA.getBasis(); + separatingAxisInB = norm * transB.getBasis(); + pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); pWorld = transA(pInA); qWorld = transB(qInB); w = qWorld - pWorld; @@ -259,7 +259,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT); //minProj; btIntermediateResult res; - gjkdet.setCachedSeperatingAxis(-minNorm); + gjkdet.setCachedSeparatingAxis(-minNorm); gjkdet.getClosestPoints(input, res, debugDraw); btScalar correctedMinNorm = minProj - res.m_depth; diff --git a/src/BulletCollision/NarrowPhaseCollision/btMprPenetration.h b/src/BulletCollision/NarrowPhaseCollision/btMprPenetration.h index 94d0f284f..534a66d3f 100644 --- a/src/BulletCollision/NarrowPhaseCollision/btMprPenetration.h +++ b/src/BulletCollision/NarrowPhaseCollision/btMprPenetration.h @@ -309,11 +309,11 @@ inline void btMprSupport(const btConvexTemplate &a, const btConvexTemplate &b, const btMprCollisionDescription &colDesc, const btVector3 &dir, btMprSupport_t *supp) { - btVector3 seperatingAxisInA = dir * a.getWorldTransform().getBasis(); - btVector3 seperatingAxisInB = -dir * b.getWorldTransform().getBasis(); + btVector3 separatingAxisInA = dir * a.getWorldTransform().getBasis(); + btVector3 separatingAxisInB = -dir * b.getWorldTransform().getBasis(); - btVector3 pInA = a.getLocalSupportWithMargin(seperatingAxisInA); - btVector3 qInB = b.getLocalSupportWithMargin(seperatingAxisInB); + btVector3 pInA = a.getLocalSupportWithMargin(separatingAxisInA); + btVector3 qInB = b.getLocalSupportWithMargin(separatingAxisInB); supp->v1 = a.getWorldTransform()(pInA); supp->v2 = b.getWorldTransform()(qInB);